KR20230048332A - Sidelink timing-based positioning - Google Patents

Abstract

One instance of UE device 1100 receives SL Positioning Reference Signals (“SL-PRS”) 740 from reference node 720 and two or more additional UEs 610, 615, and transmits to reference node To measure SL reference signal timing differences (“RSTDs”) between two or more additional UEs for the SL RSTDs, and to determine an estimated location of the target UE based on a time difference of arrival (“TDOA”) positioning technique using the SL RSTDs. and a configured target UE 705. Another instance of UE device 1100 transmits SL Positioning Reference Signals (“PRS”) 850 to one or more additional UEs 810, 815 and determines SL positioning from one or more additional UEs 810, 815. Receive reference signals and determine the estimated location of the target UE based on SL Round Trip Time (RTT) positioning techniques using SL Positioning Reference Signals ("PRS") transmitted and received between the target UE and additional UEs. and a target UE 805 configured to determine.

Description

Sidelink timing-based positioning

CROSS REFERENCES TO RELATED APPLICATIONS

This application is filed on August 10, 2020, entitled "Sidelink Timing-Based Positioning Methods," US Provisional Patent Application No. 63/063,836, filed on August 10, 2020, entitled "Sidelink Timing-Based Positioning Methods" U.S. Provisional Patent Application Serial No. 63/063,854, "Sidelink Angular-based and SL RRM-based Positioning Methods," and filed on August 10, 2020, entitled "Apparatuses, Methods, And System For SL PRS Transmission Priority is claimed to U.S. Provisional Patent Application Serial No. 63/063,824, "Methodology," which applications are incorporated herein by reference to the extent permitted under applicable patent laws and rules.

The subject matter disclosed herein relates generally to wireless communications, and more specifically to sidelink timing-based positioning methods.

In certain wireless communication systems, Radio Access Technology (“RAT”) dependent positioning using 3GPP New Radio (“NR”) technology was recently supported in Release 16 of the 3GPP specifications. Positioning features include 5th generation ("5C") network core architecture and interface enhancements, as well as physical layer and layer-2/layer-3 signaling procedures to enable RAT dependent positioning methods for Uu interfaces in LTE and NR. radio access node (“RAN”) functionality to support However, various existing systems do not have adequate positioning features for sidelink ("SL") interfaces.

Procedures for performing sidelink timing based positioning are disclosed. These procedures may be implemented by apparatus, systems, methods, or computer program products. A user equipment (“UE”) device for a communication network is disclosed and, in various embodiments, includes a target UE to be localized using sidelink (“SL”) timing based positioning, the target UE comprising: a processor; a memory, and program code, program code executable by the processor to cause a UE to receive SL Positioning Reference Signal (“SL-PRS”) measurements from a reference node and at least two additional UEs; To measure the SL reference signal timing differences ("RSTDs") between two or more additional UEs to the reference node, and determine the estimated time difference of arrival ("TDOA") of the target UE based on the SL RSTDs positioning technique. determine the location.

The additional UE device includes a target UE to be localized using sidelink (“SL”) timing based positioning, the target UE including a processor, memory, and program code, the program code being executable by the processor cause the target UE to transmit SL Positioning Reference Signals (“PRS”) to one or more additional UEs; receive SL positioning reference signals from one or more additional UEs; One to measure SL Round Trip Times (RTTs) for SL Positioning Reference Signals (“PRS”) transmitted and received between a target UE and one or more additional UEs using the SL interface, and to determine SL RTTs The above SL UE Rx-Tx difference may be determined by measuring the received timing of SL subframes including the PRS; measuring the difference between transmission and reception timing of SL subframes containing the PRS; and calculating one or more SL UE Rx-Tx timing differences.

A method for a location management function ("LMF") in a communication network is disclosed, using one or more sidelink timing-based positioning techniques selected from a first sidelink timing-based positioning technique and a second sidelink timing-based positioning technique. and determining the estimated location of the target UE to be localized. A first sidelink timing based positioning technique is based on determining, from a target UE to be localized, two or more sidelink ("SL") reference signal timing differences ("RSTD") between a target UE and two or more additional UEs for a reference node. s"), SL RSTDs based on SL Positioning Reference Signals ("PRS") from the reference node and at least two additional UEs; and determining the estimated location of the target UE using a time difference of arrival (“TDOA”) positioning technique using SL RSTDs. A second sidelink timing based positioning technique includes receiving a report from a target UE to be localized, including one or more SL RTT measurements between the target UE and one or more additional UEs; and determining an estimated location of the target UE using a SL-RTT positioning technique based on the UE Rx-Tx time difference measurements.

A more specific description of the embodiments briefly described above will be made with reference to specific embodiments illustrated in the accompanying drawings. With the understanding that these drawings illustrate only some embodiments and, therefore, should not be considered limiting in scope, the embodiments will be described and described with additional specificity and detail through the use of the accompanying drawings.
1 is a schematic block diagram illustrating a wireless communication system for sidelink timing based positioning methods, in accordance with one or more embodiments of the present disclosure.
2 is a block diagram of a 5G New Radio ("NR") protocol stack, in accordance with one or more embodiments of the present disclosure.
3 is a block diagram illustrating NR beam based positioning, in accordance with one or more embodiments of the present disclosure.
4 is a diagram illustrating downlink (“DL”) time difference of arrival (“TDOA”) assistance data, in accordance with one or more embodiments of the present disclosure.
5 is a diagram illustrating a DL-TDOA measurement report, in accordance with one or more embodiments of the present disclosure.
6 is a diagram illustrating an example scenario with two additional UEs and a fixed reference node for sidelink SL-time difference of arrival (“TDOA”) location of a target UE, in accordance with one or more embodiments of the present disclosure.
7 is a diagram illustrating an example scenario with two additional UEs and a mobile reference node for SL-TDOA positioning of a target UE, in accordance with one or more embodiments of the present disclosure.
8 is a diagram illustrating an example scenario of SL Round Trip Time (“RTT”) positioning of a target UE using multiple beams with multiple UEs, in accordance with one or more embodiments of the present disclosure.
9 is a diagram illustrating an example capability signaling exchange for SL-TDOA and/or SL-RTT location, in accordance with one or more embodiments of the present disclosure.
10 is a diagram illustrating an example of an auxiliary data signaling exchange for SL-TDOA and/or SL-RTT positioning, in accordance with one or more embodiments of the present disclosure.
11 is a block diagram illustrating a user equipment device that may be used with sidelink timing based positioning methods, in accordance with one or more embodiments of the present disclosure.
12 is a block diagram illustrating a network equipment arrangement that may be used with sidelink timing based positioning methods, in accordance with one or more embodiments of the present disclosure.
13 is a block diagram illustrating an example method for SL-TDOA positioning, in accordance with one or more embodiments of the present disclosure.
14 is a block diagram illustrating an example methodology for sidelink timing based positioning methods using SL-RTT, in accordance with one or more embodiments of the present disclosure.

As will be appreciated by those skilled in the art, aspects of the embodiments may be implemented as a system, apparatus, method, or program product. Accordingly, embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.), or an embodiment combining software and hardware aspects.

For example, the disclosed embodiments may be implemented as hardware circuitry including custom very high density integrated (“VLSI”) circuits or gate arrays, off-the-shelf semiconductors such as logic chips, transistors, or other discrete components. there is. The disclosed embodiments may also be implemented with programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices, and the like. As another example, the disclosed embodiments may include one or more physical or logical blocks of executable code that may be organized, for example, as an object, procedure, or function.

Moreover, embodiments may take the form of a program product embodied in one or more computer readable storage devices that store machine readable code, computer readable code, and/or program code (hereinafter referred to as code). . Storage devices can be tangible, non-transitory, and/or non-transferable. Storage devices may not implement signals. In a particular embodiment, storage devices only use signals to access code.

Any combination of one or more computer readable media may be utilized. A computer readable medium may be a computer readable storage medium. A computer readable storage medium may be a storage device that stores code. The storage device can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, holographic, micromechanical, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing.

More specific examples (a rough list) of storage devices would include: electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (“RAM”), read-only memory (“ROM”). ), erasable programmable read-only memory ("EPROM" or flash memory), portable compact disk read-only memory ("CD-ROM"), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium can be any tangible medium that can hold or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The code for performing operations for the embodiments may be any number of lines, and may be an object-oriented programming language such as Python, Ruby, Java, Smalltalk, C++, etc.; and one or more programming languages, including conventional procedural programming languages, such as the "C" programming language, and/or machine languages, such as assembly languages. The code can run entirely on the user's computer, as a stand-alone software package, partially on the user's computer, partially on the user's computer and partially on a remote computer, or completely on a remote computer or server. there is. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (“LAN”) or a wide area network (“WAN”), or (e.g., an Internet service provider). A connection can be made to an external computer (via the Internet) using

Moreover, the described features, structures, or characteristics of the embodiments may be combined in any suitable way. In the following description, examples of programming, software modules, user selections, network transactions, database queries, database structures, hardware modules, hardware circuits, hardware chips, etc. are provided to provide a thorough understanding of the embodiments. A number of specific details are provided, such as: However, one of ordinary skill in the art will recognize that the embodiments may be practiced without one or more of the specific details or using other methods, components, materials, etc. In other instances, well-known structures, materials, or operations have not been shown or described in detail to avoid obscuring aspects of an embodiment.

Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment,” “in an embodiment,” and like language throughout this specification may, but do not necessarily, and unless expressly specified otherwise, all refer to the same embodiment. can mean “one or more embodiments but not all embodiments”. Terms such as "comprising", "having" and variations thereof mean "including but not limited to" unless expressly specified otherwise. An enumerated list of items does not imply that any or all of the items are mutually exclusive, unless expressly specified otherwise. Terms in the singular also refer to “one or more” unless expressly specified otherwise.

As used herein, a list with the conjunction “and/or” includes any single item in the list or any combination of items in the list. For example, a list of A, B, and/or C includes only A, only B, only C, a combination of A and B, a combination of B and C, or a combination of A and C. or a combination of A, B and C. As used herein, a list using the term "one or more of" includes any single item in the list or combination of items in the list. For example, one or more of A, B, and C includes only A, only B, only C, a combination of A and B, a combination of B and C, or a combination of A and C. or a combination of A, B and C. As used herein, a list using the term "one of" includes only one of any single item in the list. For example, “one of A, B, and C” includes only A, only B, or only C, and excludes combinations of A, B, and C. As used herein, "a member selected from the group consisting of A, B, and C" includes only one of A, B, or C, and excludes combinations of A, B, and C. As used herein, "a member selected from the group consisting of A, B and C, and combinations thereof" includes only A, only B, only C, or a combination of A and B. or a combination of B and C, a combination of A and C, or a combination of A, B, and C.

Aspects of the embodiments are described below with reference to schematic flowcharts and/or schematic block diagrams of methods, apparatuses, systems, and program products according to the embodiments. It will be appreciated that each block of the schematic flow diagrams and/or schematic block diagrams, and combinations of blocks within the schematic flow diagrams and/or schematic block diagrams, may be implemented by code. Such code may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing device to create a machine, such that instructions executed by the processor of the computer or other programmable data processing device are flow diagrams. and/or create means for implementing the functions/operations specified in the block diagrams.

Also, code may be stored on a storage device to instruct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that instructions stored on the storage device may include flow diagrams and/or Creates an article of manufacture containing instructions that implement the functions/operations specified in the block diagrams.

Code can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other devices to create a computer-implemented process. Code running on a computer or other programmable device provides processors for implementing the functions/operations specified in the flow diagrams and/or block diagrams.

The flow diagrams and/or block diagrams in the drawings illustrate the architecture, function, and operation of possible implementations of devices, systems, methods, and program products in accordance with various embodiments. In this regard, each block within flow diagrams and/or block diagrams may represent a module, segment, or portion of code that includes one or more executable instructions of code to implement a specified logical function(s).

It should also be noted that in some alternative implementations, functions referred to in blocks may occur in an order different from the order in which they are referred to in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in reverse order, depending on the functionality involved. Other steps and methods that are equivalent in function, logic, or effect to one or more blocks or portions thereof of the illustrated figures may be envisioned.

Various arrow types and line types may be used in the flowcharts and/or block diagrams, but it is understood that they do not limit the scope of the corresponding embodiments. Indeed, some arrows or other connectors may be used to indicate only the logical flow of the illustrated embodiment. For example, an arrow may indicate a waiting or monitoring period of unspecified duration between enumerated steps in the illustrated embodiment. Further, each block of the block diagrams and/or flow diagrams, and combinations of blocks within the block diagrams and/or flow diagrams, may be implemented by special purpose hardware-based systems that perform designated functions or operations, or It should be noted that it can be implemented by combinations of special purpose hardware and code.

Descriptions of elements in each figure may refer to elements in the progress figures. Like numbers refer to like elements in all drawings including alternative embodiments of like elements.

general overview

In general, the present disclosure describes systems, methods, and apparatus for sidelink timing based positioning. More specifically, the present disclosure provides improved signaling and, e.g., for NR, to enable sidelink positioning using timing based SL-TDOA and SL-RTT RAT dependent and RAT independent positioning techniques. Introduce the measurement framework.

Long Term Evolution ("LTE") and the 3rd Generation Partnership Project ("3GPP") New Radio ("NR"). Similarly, although there are currently no specified methods for realizing such implementations in 3GPP, these positioning techniques exhibit high potential for application in the sidelink. Moreover, aspects of sidelink positioning that should be advantageously addressed include, in existing systems, e.g., vehicle-to-X ("V2X"), public safety, commercial services, as well as in-coverage and out-of-coverage conditions; candidate frequency bands; usage scenarios and deployment of UEs, RAT dependent and RAT independent positioning, and hybrids; mobile-based (performed by the UE) and mobile-assisted (performed at least in part by the LMF) sidelink positioning; absolute and relative positioning; and determining use cases and requirements for sidelink positioning that may not be adapted for sidelink, in design considerations and potential operating scenarios in subjects of network coverage, including architecture. can do.

Another feature of SL positioning is that it enables relative positioning, which can be beneficial for position estimation in mobile vehicle scenarios. For example, relative positioning is a performance requirement in horizontal accuracy of devices in industrial Internet of Things (“IIoT”) environments where flexible and modular assembly areas are required in a smart factory setting.

The present disclosure aims to address this problem and lack of functionality in cellular V2X (“C-V2X”) positioning by developing timing-based mechanisms to perform SL positioning. The proposed SL positioning techniques aim to provide high accuracy according to scenarios and radio environments.

1 illustrates a wireless communication system 100 for performing sidelink timing based positioning, in accordance with various embodiments of the present disclosure. In one embodiment, the wireless communication system 100 includes at least one remote unit 105 , a radio access network (“RAN”) 120 , and a mobile core network 140 . RAN 120 and mobile core network 140 form a mobile communications network. The RAN 120 may consist of a base unit 121 with which remote units 105 communicate using wireless communication links 115 . Although a specific number of remote units 105, base units 121, wireless communication links 115, RANs 120, and mobile core networks 140 are shown in FIG. A person of ordinary skill in the art can use any number of remote units 105, base units 121, wireless communication links 115, RANs 120, and mobile core networks 140 in a wireless communication system ( 100).

In one implementation, the RAN 120 conforms to the 5G system specified in the 3rd Generation Partnership Project (“3GPP”) specifications. For example, RAN 120 may be a Next Generation Radio Access Network ("NG-RAN") that implements New Radio ("NR") Radio Access Technology ("RAT") and/or Long Term Evolution ("LTE") RAT. can be In another example, the RAN 120 may include a non-3GPP RAT (eg, Wi-Fi® or an Institute of Electrical and Electronics Engineers (IEEE) 802.11-family compliant WLAN). In another implementation, RAN 120 conforms to the LTE system specified in 3GPP specifications. More generally, however, wireless communications system 100 may implement some other open or proprietary communications network, for example, Worldwide Interoperability for Microwave Access (WiMAX) or IEEE 802.16-family standards, among other networks. This disclosure is not intended to be limited to implementation of any particular wireless communication system architecture or protocol.

In one embodiment, the remote units 105 may be desktop computers, laptop computers, personal digital assistants (PDAs), tablet computers, smartphones, smart televisions (eg, Internet-connected televisions). s), smart devices (e.g., devices connected to the Internet), set-top boxes, game consoles, security systems (including security cameras), vehicle-mounted computers, network devices (e.g., routers, switches, modems), and the like. In some embodiments, remote units 105 include wearable devices such as smart watches, fitness bands, optical head mounted displays, and the like. Remote units 105 also include UEs, subscriber units, mobiles, mobile stations, users, terminals, mobile terminals, fixed terminals, subscriber stations, user terminals, wireless transmit/receive units. ("WTRU"), device, or other term used in the art. In various embodiments, the remote unit 105 may include a Subscriber Identity and/or Identification Module ("SIM"), and mobile end functions (e.g., radio transmission, handover, voice encoding and decoding, error detection and mobile equipment ("ME") that provides correction, signaling and access to the SIM. In certain embodiments, remote unit 105 may include terminal equipment ("TE") and/or may be embedded in an appliance or device (eg, a computing device as described above).

The remote units 105 may communicate directly with one or more base units 121 in the RAN 120 via uplink (“UL”) and downlink (“DL”) communication signals. Also, UL and DL communication signals may be carried over wireless communication links 115 . Here, RAN 120 is an intermediate network that provides access to mobile core network 140 to remote units 105 . As described in more detail below, base unit(s) 121 may provide cells that operate using a first frequency range and/or cells that operate using a second frequency range.

In some embodiments, remote units 105 communicate with application server 151 via a network connection with mobile core network 140 . For example, applications 107 (e.g., web browsers, media clients, telephony, and/or Voice-over-Internet-Protocol (VoIP) applications) within remote unit 105 may communicate with mobile core via RAN 120. may trigger remote unit 105 to establish a protocol data unit ("PDU") session (or other data connection) with network 140. Mobile core network 140 then relays traffic between application server 151 and remote unit 105 in packet data network 150 using the PDU session. A PDU session represents a logical connection between a remote unit 105 and a user plane function (“UPF”) 141 .

To establish a PDU session (or PDN connection), the remote unit 105 must be registered with the mobile core network 140 (which is also "belonging to the mobile core network" in the context of fourth generation ("4G") systems). also called). Note that the remote unit 105 may establish one or more PDU sessions (or other data connections) with the mobile core network 140 . Thus, remote unit 105 may have at least one PDU session for communicating with packet data network 150 . Remote unit 105 may establish additional PDU sessions to communicate with other data networks and/or other communication peers.

In the context of a 5G system (“5GS”), the term “PDU session” means an end-to-end (“E2E”) user plane (“E2E”) between a remote unit 105 and a specific data network (“DN”) "UP") refers to a data connection that provides connectivity. A PDU session supports one or more Quality of Service ("QoS") flows. In certain embodiments, there may be a one-to-one mapping between QoS flows and QoS profiles such that all packets belonging to a particular QoS flow have the same 5G QoS identifier (“5QI”).

In the context of 4G/LTE systems such as the Evolved Packet System ("EPS"), a Packet Data Network ("PDN") connection (also referred to as an EPS session) provides E2E UP connectivity between a remote unit and the PDN. The PDN attach procedure establishes an EPS bearer, ie, a tunnel between the remote unit 105 and a packet gateway ("PGW", not shown) within the mobile core network 140. In certain embodiments, there is a one-to-one mapping between EPS bearers and QoS profiles such that all packets belonging to a particular EPS bearer have the same QoS class identifier (“QCI”).

Base units 121 may be distributed over a geographic area. In certain embodiments, base unit 121 may also be an access terminal, an access point, a base, a base station, a Node-B ("NB"), (abbreviated eNodeB or "eNB", Evolved Universal Terrestrial (E-UTRAN) Radio Access Network (also known as Node B) Evolved Node B, 5G/NR Node B ("gNB"), Home Node-B, Relay Node, RAN Node, or any other term used in the art. can Base units 121 are generally part of a RAN, such as RAN 120 , which may include one or more controllers communicatively coupled to one or more corresponding base units 121 . These and other elements of a radio access network are not illustrated, but are generally well known to those skilled in the art. Base units 121 are connected to mobile core network 140 via RAN 120 .

The base units 121 may serve multiple remote units 105 within a serving area, eg, a cell or cell sector, via a wireless communication link 115 . Base units 121 may communicate directly with one or more remote units 105 via communication signals. In general, base units 121 transmit DL communication signals to serve remote units 105 in the time, frequency, and/or spatial domain. DL communication signals may also be carried over wireless communication links 115 . Wireless communication links 115 may be any suitable carrier in the licensed or unlicensed radio spectrum. Wireless communication links 115 facilitate communication between one or more remote units 105 and/or one or more base units 121 . Note that during NR (referred to as “NR-U”) operation on unlicensed spectrum, base unit 121 and remote unit 105 communicate over unlicensed (ie, shared) radio spectrum.

In one embodiment, mobile core network 140 is a 5GC or Evolved Packet Core (“EPC”), which may be coupled to packet data network 150 such as the Internet and personal data networks, among other data networks. . The remote unit 105 may have a subscription or other account with the mobile core network 140 . In various embodiments, each mobile core network 140 belongs to a single mobile network operator (“MNO”). This disclosure is not intended to be limited to implementation of any particular wireless communication system architecture or protocol.

Mobile core network 140 includes several network functions ("NFs"). As shown, the mobile core network 140 includes at least one UPF 141 . The mobile core network 140 also includes an access and mobility management function (“AMF”) 143 serving the RAN 120, a session management function (“SMF”) 145, a location management function (“LMF”) ( 147), multiple control plane ("CP") functions, including but not limited to Unified Data Management Function ("UDM") and User Data Repository ("UDR"). Although specific numbers and types of network functions are shown in FIG. 1 , those skilled in the art will recognize that any number and type of network functions may be included in mobile core network 140 .

UPF(s) 141 is responsible for packet routing and forwarding, packet inspection, QoS processing, and external PDU sessions for data network (“DN”) interconnection in the 5G architecture. The AMF 143 is responsible for termination of NAS signaling, NAS encryption and integrity protection, registration management, access management, mobility management, access authentication and authorization, and security context management. SMF 145 provides UPF 141 for session management (i.e., session establishment, modification, teardown), remote unit (i.e., UE) Internet Protocol ("IP") address allocation and management, DL data notification, and proper traffic routing. ) is responsible for configuring traffic steering.

LMF 147 receives measurements from RAN 120 and remote unit 105 (eg, via AMF 143) and calculates the location of remote unit 105. The UDM is responsible for creating Authentication and Key Agreement (AKA) credentials, handling user identification, access authorization, and subscription management. The UDR is a repository of subscriber information and can be used to service a number of network functions. For example, a UDR may store subscription data, policy related data, subscriber related data that is permitted to be exposed to third party applications, and the like. In some embodiments, a UDM is co-located with a UDR, shown as combined entity “UDM/UDR” 149 .

In various embodiments, the mobile core network 140 also includes a policy control function (“PCF”) 144 (which provides policy rules to CP functions), a network repository function (“NRF”) (which is a network function ( "NF") to provide service registration and discovery, enabling NFs to identify appropriate services to each other and communicate with each other via application programming interfaces ("APIs")), network exposure functions ("NEFs") (which are responsible for making network data and resources easily accessible to customers and network partners), an Authorization Server Function ("AUSF"), or other NFs defined for 5GC. When present, AUSF may act as an authentication server and/or authentication proxy, thereby allowing AMF 143 to authenticate remote unit 105 . In certain embodiments, mobile core network 140 may include an authentication, authorization, and accounting ("AAA") server.

In various embodiments, mobile core network 140 supports different types of mobile data connections and different types of network slices, each mobile data connection using a particular network slice. Here, “network slice” refers to a portion of the mobile core network 140 that is optimized for a specific traffic type or communication service. For example, one or more network slices may be optimized for enhanced mobile broadband (eMBB) services. As another example, one or more network slices may be optimized for ultra-reliable low-latency communications (“URLLC”) services. In other examples, a network slice may be optimized for machine type communications ("MTC") services, massive MTC ("mMTC") services, Internet of Things ("IoT") services. In still other examples, network slices can be deployed for specific application services, vertical services, specific use cases, and the like.

A network slice instance can be identified by single-network slice selection assistance information (“S-NSSAI”), whereas the set of network slices that remote unit 105 is authorized to use is network slice selection assistance information (“NSSAI”). ) is identified by Here, "NSSAI" refers to a vector value containing one or more S-NSSAI values. In certain embodiments, the various network slices may include separate instances of network functions such as SMF 145 and UPF 141 . In some embodiments, different network slices may share some common network functions such as AMF 143 . Different network slices are not shown in Figure 1 for ease of illustration, but their support is assumed.

As discussed in more detail below, remote unit 105 receives measurement configuration 125 from the network (eg, from LMF 147 via RAN 120 ). In various embodiments, remote unit 105 performs positioning measurements and sends positioning reports 127 to LMF 147 to perform certain steps of positioning calculations, as described in more detail below. send to In some embodiments, for example in scenarios where a location server is not immediately available, the target UE is configured to perform sidelink location techniques locally.

1 illustrates components of a 5G RAN and 5G core network, the described embodiments for performing sidelink timing based positioning are IEEE 802.11 variants, Global System for Mobile Communications (GSM) (i.e., 2G digital cellular network), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), LTE variants, CDMA 2000, Bluetooth, ZigBee, Sigfox, etc. .

Also, in the LTE variant where the mobile core network 140 is an EPC, the network functions shown are provided as appropriate, such as Mobility Management Entity ("MME"), Serving Gateway ("SGW"), PGW, Home Subscriber Server ("HSS"), etc. May be replaced by EPC entities. For example, AMF 143 may be mapped to the MME, SMF 145 may be mapped to the control plane portion of the PGW and/or MME, and UPF 141 may be mapped to the SGW and the user plane portion of the PGW. can be, and the UDM/UDR 149 can be mapped to the HSS.

In the following descriptions, the term "RAN node" is used for a base station, but any other radio access node, e.g., gNB, ng-eNB, eNB, base station ("BS"), access point ("AP" ) can be replaced by Also, these operations are primarily described in the context of 5G NR. However, the proposed solutions/methods are equally applicable to other mobile communication systems that support performing sidelink timing based positioning.

Table 1 lists various positioning performance requirements for different scenarios in an IIoT or indoor factory setting. For IIoT in Release 17 ("Rel-17"), certain positioning requirements are particularly stringent with respect to accuracy, latency, and reliability.

The apparatuses, methods, and systems disclosed herein are intended to enable sidelink timing-based positioning to be implemented with high accuracy, low latency, and high reliability.

This disclosure describes mechanisms for performing sidelink timing based positioning. Advantageously, time difference based measurements and position estimation facilitate high resolution in terms of accuracy for the target UE. Additionally, enabling TDoA measurements and location estimation for both anchor UE and non-anchor UE configurations facilitates high-accuracy location determination in out-of-coverage scenarios, and is particularly beneficial for public safety and V2X scenarios. can do.

Other techniques disclosed herein are used to enable a target UE to autonomously perform round trip time (RTT) measurements for TX-RX distance/range calculation using multiple beams between multiple pairs of UEs on a sidelink. It can be. The disclosed RTT measurements for TX-RX distance calculation can be easily configured, may not require network assistance, and can be applied to Mode 2 SL operations. Moreover, multiple SL beams can be used to perform accurate RTT measurements in a unicast scenario, while RTT measurements from multiple UEs can also enable mapping of the target UE's immediate surroundings.

2 illustrates an NR protocol stack 200, in accordance with one or more embodiments of the present disclosure. Although FIG. 2 shows UE 205, RAN node 210 and AMF 215 in a 5G Core Network (“5GC”), they are remote units that interact with base unit 121 and mobile core network 140. represents a set of s (105). As shown, the protocol stack 200 includes a user plane protocol stack 201 and a control plane protocol stack 203 . The user plane protocol stack 201 comprises a physical ("PHY") layer 220, a medium access control ("MAC") sublayer 225, a radio link control ("RLC") sublayer 230, packet data convergence protocol (“PDCP”) sublayer 235, and service data adaptation protocol (“SDAP”) layer 240. Control plane protocol stack 203 includes physical layer 220, MAC sublayer 225, RLC sublayer 230, and PDCP sublayer 235. The control plane protocol stack 203 also includes a radio resource control (“RRC”) layer 245 and a non-access layer (“NAS”) layer 250.

The AS layer (also referred to as "AS protocol stack") for the user plane protocol stack 201 consists of at least SDAP, PDCP, RLC and MAC sublayers, and a physical layer. The AS layer for the control plane protocol stack 203 consists of at least RRC, PDCP, RLC and MAC sublayers, and a physical layer. Layer-2 (“L2”) is divided into SDAP, PDCP, RLC and MAC sublayers. Layer-3 ("L3") includes an RRC layer 245 and a NAS layer 250 for the control plane, e.g., an Internet Protocol ("IP") layer and/or a PDU layer for the user plane ( not shown). L1 and L2 are referred to as "lower layers", while L3 and above (eg transport layer, application layer) are referred to as "higher layers" or "upper layers".

The physical layer 220 provides transport channels to the MAC sublayer 225. Physical layer 220 may perform an available channel assessment and/or a listen-before-talk ("CCA/LBT") procedure. In certain embodiments, physical layer 220 may send a notification of a UL listen-before-talk (“LBT”) failure to a MAC entity in MAC sub-layer 225 . MAC sublayer 225 provides logical channels to RLC sublayer 230. The RLC sublayer 230 provides RLC channels to the PDCP sublayer 235. PDCP sublayer 235 provides radio bearers to SDAP layer 240 and/or RRC layer 245. The SDAP layer 240 provides QoS flows to the core network (eg, 5GC). The RRC layer 245 provides the addition, modification, and release of carrier aggregation and/or dual connectivity. The RRC layer 245 also manages the establishment, configuration, maintenance, and release of signaling radio bearers ("SRBs") and data radio bearers ("DRBs").

The NAS layer 250 is between the UE 205 and the AMF 215 of the core network (eg, 5GC). NAS messages are passed transparently through the RAN. The NAS layer 250 is used to manage the establishment of communication sessions and to maintain continuous communication with the UE 205 as it moves between different cells of the RAN. In contrast, the AS layer is between the UE 205 and the RAN (ie, the RAN node 210) and carries information over the radio portion of the network.

The following RAT dependent positioning techniques may be supported by system 100:

DL-TDoA: The DL TDOA positioning method is based on the DL RS time difference ("RSTD") of downlink signals received from multiple TPs at UE 205 (i.e., remote unit 105) (and optionally DL PRS RS reception Quality (“RSRQ”) of DL PRS RSRP). The UE 205 uses the assistance data received from the location server to measure the DL RSTD (and optionally DL PRS RSRP) of the received signals, and the resulting measurements are used along with other configuration information to determine neighboring transmission points. position the UE 205 in relation to (“TPs”).

DL-AoD: The DL Angle of Departure (“AoD”) positioning method uses the measured DL PRS RSRP of downlink signals received from multiple TPs at UE 205 . The UE 205 uses the assistance data received from the location server to measure the DL PRS RSRP of the received signals, and the resulting measurements are used in conjunction with other configuration information to guide the UE 205 with respect to neighboring TPs. place

Multi-RTT: A multi-round-trip time (“multi-RTT”) positioning method is based on the DL PRS RSRP and UE Receive-Transmit (“Rx -Tx") measurements and UL SRS-RSRP and gNB Rx-Tx measurements (i.e. measured by RAN node 210) in a plurality of TRPs of uplink signals transmitted from UE 205. .

The UE 205 measures UE Rx-Tx measurements (and optionally DL PRS RSRP of received signals) using the assistance data received from the location server, and TRPs using the assistance data received from the location server. to measure gNB Rx-Tx measurements (and optionally UL SRS-RSRP of received signals). The measurements are used to determine the round trip time ("RTT") at the location server used to estimate the location of the UE 205.

E-CID/NR E-CID: In the enhanced cell ID (CID) positioning method, the location of a UE 205 is estimated with knowledge of its serving ng-eNB, gNB and cell and based on LTE signals. Information about the serving ng-eNB, gNB and cell may be obtained by paging, registration, or other methods. NR Enhanced Cell ID (NR E CID) positioning refers to techniques that use additional UE measurements and/or NR radio resource and other measurements to improve UE location estimation using NR signals.

Although NR E-CID positioning may use some of the same measurements as the measurement control system in the RRC protocol, the UE 205 is generally not expected to make additional measurements for the sole purpose of positioning, i.e. Positioning procedures do not supply measurement configuration or measurement control messages, and the UE 205 is not required to take additional measurement actions, but rather reports its available measurements.

UL-TDoA: The UL TDOA positioning method uses UL TDOA (and optionally UL SRS-RSRP) in multiple RPs of uplink signals transmitted from UE 205 . The RPs use the assistance data received from the location server to measure the UL TDOA (and optionally UL SRS-RSRP) of the received signals, and the resulting measurements are used in conjunction with other configuration information to locate the UE 205. guess

UL-AoA: The UL Angle of Arrival (“AoA”) positioning method uses measured azimuth and zenith angles of arrival at multiple RPs of uplink signals transmitted from UE 205 . The RPs use the assistance data received from the location server to measure the A-AoA and Z-AoA of the received signals, and the resulting measurements are used in conjunction with other configuration information to estimate the location of the UE 205.

Some UE location methods supported in Release 16 of the 3GPP specifications ("Rel-16") are listed in Table 2. Distinct positioning techniques as shown in Table 2 may currently be configured and implemented based on the requirements of the LMF and/or UE capabilities. Note that Table 2 includes TBS positioning based on PRS signals, but only OTDOA based on LTE signals is supported. The E-CID contains the cell-ID for the NR method. The Terrestrial Beacon System ("TBS") method refers to TBS positioning based on Metropolitan Beacon System ("MBS") signals.

The transmission of Positioning Reference Signals ("PRS") enables the UE 205 to perform UE positioning-related measurements to enable calculation of the UE's position estimate and is configured per transmit receive point ("TRP"). And the TRP can transmit one or more beams. 3 shows a system 300 for NR beam based positioning. According to Rel-16, PRS has frequency range #1 (“FR1”, i.e., frequencies from 410 MHz to 7125 MHz) and frequency range #2 (“FR1”, which are relatively different when compared to LTE where the PRS is transmitted over the entire cell). It can be transmitted by different base stations (serving and neighbor) using narrow beams across “FR2”, ie, frequencies between 24.25 GHz and 52.6 GHz.

As shown in FIG. 3 , the UE 205 receives from a first gNB (“gNB #1) 310 that is the serving gNB, and also from a neighboring second gNB (“gNB #2) 315 and a neighboring second gNB (“gNB #2) 315 . 3 Receive a PRS from gNB ("gNB #3) 320. Here, the PRS may be locally associated with a PRS Resource ID and Resource Set ID for a base station (ie, TRP). Illustrated Embodiment , each gNB 310, 315, 320 is configured with a first resource set ID 325 and a second resource set ID 330. As shown, the UE 205 transmits a PRS on transmit beams. Receive a PRS from gNB #1 (310) on PRS resource ID #1 from second resource set ID (330), and a PRS from gNB #1 (310) on PSR resource ID #3 from second resource set ID (330) gNB Receives PRS from #2 315 and PRS from gNB #3 320 on PRS resource ID #3 from first resource set ID 325. Within 5G RAN, NR Positioning Protocol A ( "NRPPa") 335 uses services provided by the New Generation ("NG") Application Protocol ("NGAP"). NRPPa message 335 is carried within an NGAP message. LMF 305 is AMF 143 The NG-RAN node as a base unit 121 can control several TRPs Split NG-RAN architectures, i.e. Centralized Unit ("CU")/Distributed Both type unit ("DU"), and non-partitioned NG-RAN architectures are supported A more detailed description of NRPPa can be found in 3GPP TS 38.455.

Table 2 lists the positioning technologies supported in Release 16 of the 3GPP specifications ("Rel-16"). Table 2 includes TBS positioning based on PRS signals, but note that only OTDOA based on LTE signals is supported in Rel-16. The E-CID contains the cell-ID for the NR method. The Terrestrial Beacon System ("TBS") method refers to TBS positioning based on Metropolitan Beacon System ("MBS") signals.

Distinct positioning techniques as shown in Table 2 can currently be configured and performed based on the requirements of the LMF and UE capabilities. The transmission of Positioning Reference Signals (PRS) enables a UE to perform UE positioning-related measurements to enable calculation of a position estimate of the UE, and is configured per transmit receive point (TRP), wherein a TRP is one or more beams can be transmitted.

Table 3 lists the RS-to-measurement mapping for each of the supported RAT dependent positioning techniques at the UE.

UE positioning measurements such as Reference Signal Time Difference (“RSTD”) and PRS RSRP measurements are made between beams as opposed to different cells as is the case in LTE. Additionally, there are additional UL location methods for the network to use to calculate the location of the target UE. Table 3 lists the required RS-to-measurement mapping for each of the supported RAT dependent positioning techniques at the UE.

Table 4 lists the RS-to-measurement mapping for each of the supported RAT dependent positioning techniques at the gNB. RAT-dependent positioning techniques are distinguished from RAT-independent positioning techniques, which rely on GNSS, IMU sensors, WLAN and Bluetooth technologies to perform target device (UE) positioning, in which the 3GPP RAT and core network entities determine the location of the UE. It entails making an estimate.

RAT-dependent positioning techniques involve the 3GPP RAT and core network entities performing location estimation of a UE, which includes a Global Navigation Satellite System ("GNSS") to perform target device (i.e., UE) positioning; It is distinguished from RAT independent positioning techniques that rely on inertial measurement unit ("IMU") sensors, WLAN and Bluetooth technologies.

PRS design

For 3GPP Rel-16, a DL PRS resource ID in a DL PRS resource set is associated with a single beam transmitted from a single TRP (a TRP can transmit more than one beam). A DL PRS opportunity is one instance of periodically repeating time windows (consecutive slot(s)) in which a DL PRS is expected to be transmitted. Regarding QCL relationships beyond Type-D of a DL PRS resource, support for these QCL relationships may include one or more of the following options:

Option 1: QCL-TypeC from TRP's SSB.

Option 2: QCL-TypeC from TRP's DL PRS resource.

Option 3: QCL-TypeA from TRP's DL PRS resource.

Option 4: QCL-TypeC from TRP's CSI-RS resource.

Option 5: QCL-TypeA from TRP's CSI-RS resource.

Option 6: Any QCL relationships beyond Type-D are not supported.

QCL-TypeA refers to Doppler Shift, Doppler Spread, Average Delay, Delay Spread; QCL-TypeB refers to Doppler Shift, Doppler Spread; QCL-TypeC refers to Average Delay, Doppler Shift; Note that QCL-TypeD refers to spatial Rx parameters.

For DL PRS resources, QCL-TypeC (option 1) from SSB of TRP is supported. An ID that can be associated with multiple DL PRS resource sets associated with a single TRP is defined. An ID that can be associated with multiple DL PRS resource sets associated with a single TRP is defined. This ID may be used together with the DL PRS Resource Set ID and DL PRS Resource ID to uniquely identify the DL PRS resource. The name may be defined by RAN2. Each TRP must be associated with only one such ID.

DL PRS resource IDs are defined locally within a DL PRS resource set. DL PRS resource set IDs are defined locally within the TRP. The duration spanned by one DL PRS resource set containing repeated DL PRS resources must not exceed the DL-PRS-periodicity. The parameter DL-PRS-ResourceRepetitionFactor is configured for a DL PRS resource set and controls how many times each DL-PRS resource is repeated for a single instance of the DL-PRS resource set. Supported values include 1, 2, 4, 6, 8, 16, and 32.

In some implementations, signaling can be defined to support any RAT-dependent location technology, including hybrid RAT-dependent location solutions.

In the context of NR positioning, the term "positioning frequency layer" refers to the same SCS and CP type; same center frequency; same point - A; All DL PRS resources of a DL PRS resource set have the same bandwidth; and/or all DL PRS resource sets belonging to the same positioning frequency layer have the same value of DL PRS bandwidth and starting PRB.

The duration of DL PRS symbols in ms can be defined so that the UE can process every T ms assuming that 272 PRB allocation is the UE capability.

Configure measurement and reporting

UE measurements applicable to DL-based positioning techniques are discussed below. For conceptual overview, auxiliary data structures (see FIG. 9) and measurement information (see FIG. 10) are provided for each of the supported positioning techniques.

4 shows a DL-TDOA containing an NR-DL-TDOA-ProvideAssistanceData information element ("IE") that may be used by a location server to provide assistance data to enable UE-assisted and UE-based NR downlink TDOAs. An example of auxiliary data 400 is shown. This can also be used to provide NR DL TDOA positioning specific error reasons. However, as shown, the NR-DL-TDOA-ProvideAssistanceData IE does not provide assistance data specific to SL timing based positioning like the SL-TDOA or SL-RTT techniques disclosed herein. Accordingly, to implement various embodiments of SL timing based positioning disclosed herein, it may be useful to use a provided auxiliary data IE containing information specific to SL timing based positioning such as SL-TDOA or SL-RTT. can

5 shows an example of a DL-TDOA measurement report 500 that includes the NR-DL-TDOA-SignalMeasurementInformation IE that can be used by a target device to provide NR-DL TDOA measurements to a location server. The measurements are provided as a list of TRPs, where the first TRP in the list is used as the reference TRP in case RSTD measurements are reported. The first TRP in the list may or may not be the reference TRP indicated in NR-DL-PRS-AssistanceData . Also, the target device selects a reference resource for each TRP, and compiles measurements for each TRP based on the selected reference resource. However, as shown, the NR-DL-TDOA-SignalMeasurementInformation IE does not provide time-of-arrival signal measurement information specific to SL timing based positioning such as SL-TDOA or SL-RTT disclosed herein. Accordingly, to implement various embodiments of SL timing based positioning disclosed herein, it may be useful to use a TDOA-SignalMeasurementInformation IE that contains information specific to SL timing based positioning such as SL-TDOA or SL-RTT. can

Additional details of the types of information that may advantageously be included are described below with respect to Tables 6 and 7 for SL-TDOA based positioning and Table 9 for SL-RTT based positioning.

RAT dependent positioning measurements

Table 5 lists various DL measurements used in DL-based positioning methods. The different DL measurements include DL PRS-RSRP, DL RSTD and UE Rx-Tx time difference required for supported RAT dependent positioning techniques, and are shown in Table 5.

Certain measurement configurations may also be specified, such as, for example, 4 pairs of DL RSTD measurements per pair of cells may be performed. Each measurement is performed between a different pair of DL PRS resources/resource sets with a single reference timing.

Eight DL PRS RSRP measurements may be performed for different DL PRS resources from the same cell.

Sidelink timing-based positioning

The present disclosure provides various solutions for SL RAT dependent positioning techniques related to timing based methods. In one embodiment, a method that enables configuration and signaling for SL time difference based positioning using fixed and/or mobile criteria for out-of-coverage, partial coverage, and in-coverage scenarios is described. Time difference based measurements and position estimation provide the highest resolution in terms of accuracy for the target UE. Enabling anchor UE and non-anchor UE configurations for high accuracy positioning in out-of-coverage scenarios is particularly beneficial for public safety and V2X scenarios.

In certain embodiments, a technique is described in which a target UE autonomously performs round trip time (RTT) measurements for TX-RX distance/range calculation using multiple beams between multiple pairs of UEs on a sidelink. In various embodiments, RTT measurements for TX-RX distance calculation may be configured, may not require network assistance, and may be applicable to Mode 2 SL operations. While multiple SL beams can be used to perform accurate RTT measurements in a unicast scenario, RTT measurements from multiple UEs can also enable mapping of the target UE's immediate surroundings.

In some communication networks, location estimation of a target UE using TDOA requires at least three anchor nodes with known locations, where at least one of these nodes acts as a reference node. One or more embodiments of the present disclosure describe different SL-TDOA location estimation scenarios involving a fixed reference (Example 1) and a mobile reference node (Example 2). Embodiments 1 to 5 or parts thereof may be implemented in combination with each other to achieve improved location accuracy estimation.

Further, the various aspects of Embodiments 1 to 5 may be implemented in combination with each other for specific reasons, such as, for example, to achieve improved location accuracy estimation. See also US Provisional Patent Application Serial No. 63/063,854 entitled "Sidelink Angular-Based And SL RRM-Based Positioning" and/or "Apparatuses, Methods, And System For SL PRS Transmission Methodology", which are also incorporated herein by reference. The embodiments disclosed in US Provisional Patent Application No. 63/063,824 entitled No. 63/063,824 may be implemented in combination with the embodiments herein.

Example 1 - SL-TDOA using a fixed reference node

6 illustrates a fixed reference node 620 for sidelink SL-time difference of arrival (“TDOA”) location of a target UE 605 and (UE-1 610 and A diagram illustrating an example scenario 600 for a sidelink SL-time difference of arrival (“TDOA”) location technique of two additional SL UEs (referred to as UE-2 615).

In the example scenario 600, a target UE 605 may communicate with an LMF 635, eg, via a gNB or RSU 630 and with two or more additional UEs 610 and 615. It may be noted that, as used in this disclosure, LMF 635 may be implemented as a stand-alone core network entity or included in a location server. In various embodiments, the LMF 635 is at least one fixed anchor reference node 620, such as a serving/neighbor base station (gNB), roadside unit (RSU) or localization unit (LMU), vulnerable road user (VRU) Configure the SL target UE 605 with the SL PRS configuration corresponding to the TRP derived from , where this TRP can be based on Uu or SL interface. Although two additional UEs are shown as mobile UEs in FIG. 6 , TRPs from two or more additional nodes (eg, two or more additional UEs) may originate from one or more of the following:

mobile anchor nodes with known absolute 2D/3D position, heading and/or velocity;

fixed anchor nodes with known absolute 2D/3D positions; and

Mobile non-anchor nodes with unknown absolute position, heading, and/or velocity that are converted to anchor nodes by determining their respective absolute positions after the mobile non-anchor nodes are identified.

For example, in certain embodiments consistent with example scenario 600, serving base station 630 (eg, gNB or RSU) is target UE 605 (eg, UE- 1 610). , triggering a request for location report 645 using RRC signaling of at least two non-anchor SL nodes in the immediate vicinity of UE-2 615 (e.g., using a LocationInfo message IE) can do. Position reporting 645 for non-anchor nodes provides their position using RAT independent techniques such as GNSS or IMU based positioning techniques, whereby they serve as anchor nodes for SL timing based positioning. allow you to do Serving gNB 630 may share its location information with LMF 635 via an appropriate interface, eg, NRPPa, before sending the updated SL PRS configuration of the three nodes serving as anchor nodes.

In another example, in accordance with one or more, serving base station 630 (eg, gNB) measures gNB-measured RAT dependent positioning techniques (eg, uplink from non-anchor SL node as shown in Table 4). Based on SRS transmission), the location of two or more non-anchor SL nodes (eg, UE-1 610 and UE-2 615) in the immediate vicinity of the target UE 605 can be estimated. there is.

The serving gNB may share its location information with the LMF 635 via the NRPPa interface before sending the updated SL PRS configuration of the three anchor nodes.

Other scenarios consistent with one or more embodiments of the present disclosure may include:

one mobile anchor node with a known absolute 2D/3D position, heading and/or speed, and another fixed anchor node with a known absolute 2D/3D position;

one mobile anchor node with a known absolute 2D/3D position, heading and/or velocity, and another mobile non-anchor node with an unknown absolute position, heading and velocity; and

One stationary anchor node with known absolute 2D/3D position and another mobile non-anchor node with unknown absolute position, heading and velocity.

For UE-assisted positioning, the LMF 635 uses the 2D (x, y) coordinates of the anchor nodes transmitting the SL PRS as well as the transmission time offsets to localize the target UE 605 .

Table 6 shows each of the SL PRS configuration parameters transmitted by the LMF 635 for use in the target UE 605.

These parameters may be further differentiated based on whether these parameters are required for the LMF 635 (UE assisted) or two or more additional SL UEs 610, 615 (UE based) to perform position estimation.

The SL TRP ID or SL-PRS ID or SL-PRS Resource Set ID describes the unique SL-PRS resource/resource set transmitted by an anchor or non-anchor node. The RSU ID will provide additional information in terms of identifying which RSU will transmit the SL, while the Zone ID uses the V2X zone concept where cells are divided into rectangular grids based on geographic criteria to locate the target UE locally. It provides complementary and ancillary information for integration.

Although various combinations of fixed and/or mobile nodes that are anchor and/or non-anchor nodes may be used in accordance with certain embodiments of the present disclosure, exemplary scenario 600 is a fixed criterion for SL-TDOA positioning. An example node 620 and two mobile anchor/non-anchor UEs (UE-1 610 and UE-2 615) are shown.

In various implementations, the target UE 605 can generate real-time differences (“RTD”), observed time differences (“OTD”) (τ _{i )} , as illustrated in the scenario 600 illustrated in FIG. -τ ₃ ), transmission time offsets based on synchronization of SL PRS transmitters ((T _i -T ₃ ) = 0 for perfect synchronization) and reference node (gNB-3/RSU- It can be noted that at least two different RSTD measurements 655 are performed for 3).

Table 7 below shows an example of measurements reported by the target UE 605.

In certain example implementations, LMF 635 targets periodic SL PRS configuration at particular time instances (t ₀ , t ₁ , ..., t _n ) corresponding to trajectory 650 of target UE 605 . may be provided to the UE 605. A set of RSTD measurements may then be performed at each of the configured time instances. The periodicity and length of the SL PRS time interval measurements may be configured by the LMF 635.

In some example implementations, the target UE 605 also, if configured, can assist the LMF 635 in improving location estimation accuracy at node 1 (UE-1 610) and node 2 (UE-2). (615)) may provide additional non-reference RSTD measurements. This provides an additional hyperbolic estimate, resulting in three unique RSTD measurements for improved 2D position accuracy.

개의 별개의 RSTD 측정을 제공할 수 있고, 여기서 N은 SL PRS(640)를 전송할 수 있는 식별되고 구성된 앵커 노드들의 수이다. 일반적으로, 3D 위치 추정을 위해, TDOA 해상도는 5개 이상의 앵커 노드들로 해결될 수 있고, 일부 구현들은 LMF(635)(네트워크)가 위치 추정의 유형, 2D 또는 3D, 및 요구된 정확도에 따라 더 많은 앵커 노드들을 구성할 수 있게 한다. 다양한 구현들에서 더 많은 앵커 노드들에 대한 더 많은 측정들을 통한 증가된 정확도에 대한 트레이드오프는 앵커 노드들의 수가 스케일링됨에 따라 모든 노드들이 시간 동기화되는 것을 보장하는 것과 관련된 프로세스들뿐만 아니라 SL PRS 스케줄링 복잡도에서의 증가를 수반한다.In various embodiments, the target UE 605 is

can provide N distinct RSTD measurements, where N is the number of identified and configured anchor nodes that can transmit the SL PRS 640. In general, for 3D position estimation, the TDOA resolution can be resolved with 5 or more anchor nodes, and some implementations suggest that the LMF 635 (network) can be Allows more anchor nodes to be configured. The tradeoff for increased accuracy through more measurements on more anchor nodes in various implementations is the SL PRS scheduling complexity as well as the processes involved in ensuring that all nodes are time synchronized as the number of anchor nodes scales. accompanied by an increase in

When the SL Positioning Configuration (or SL Positioning Request) is sent by the LMF 635, it may also include the target UE's source L2 ID, then to the anchor UEs to send the PRS 640. The destination L2 ID is transmitted for A PRS resource set is configured per destination L2 ID. The target UE's report 645 to the LMF 635 includes the source L2 ID and destination L2 ID from which the location request was sent. Additionally, reports 645 from target UE 605 may multiplex multiple reports from multiple source/destination L2 IDs.

Example 2 - SL-TDOA using mobile reference node

7 illustrates a mobile reference node 720 for SL-TDOA positioning of a target UE 705 and two or more additional UEs (UE-1 710 and UE-2), in accordance with one or more embodiments of the present disclosure. 715) is a diagram illustrating an exemplary scenario 700.

Embodiment 2 describes a SL-TDOA technique for determining the location of a target UE 705 relative to a mobile reference node 720 . The LMF/V2X application may trigger the V2X layer for location-related services, which may involve a group of UEs, where the target UE(s) are members in the group, while the remaining members have SL-TDOA. It can assume anchor node roles to perform. Two scenarios according to the exemplary scenario 700 are described as follows:

1) SL-TDOA with mobile anchor nodes with known absolute positions

The LMF / V2X application may trigger a positioning-related group cast communication service with the V2X layer, where the V2X layer may allocate member IDs to each of the group members. The V2X layer may help LMF 735 provide absolute locations of each of the anchor nodes. The LMF 735 configures the SL target UE 705 with the SL PRS configuration corresponding to the SL TRP originating from at least one mobile anchor reference node 720, such as UE-3 (or the mobile reference node is a vulnerable road user). ("VRU"). According to 13, the target UE performs at least two different RSTD measurements to the mobile reference node UE- 3 that include RTD measurements and errors arising from synchronization and clock errors.

2) SL-TDOA with mobile non-anchor nodes with unknown absolute positions

The LMF / V2X application may trigger a positioning-related group cast communication service with the V2X layer, where the V2X layer may allocate member IDs to each of the group members. The V2X layer may help the LMF provide relative positions of each of the non-anchor nodes to the reference anchor node.

Mode 1 : LMF is applied to the SL TRP originating from one mobile non-anchor reference node 720, such as UE-3 (shown in FIG. 7) and other non-anchor UEs (UE-1 and UE-2). configure the SL target UE with the corresponding SL PRS configuration; UEs may be V2X users and/or vulnerable road users (VRUs).

Mode 2 : The reference non-anchor node 720 corresponds to SL TRPs originating from all non-anchor nodes (UE-1 710, UE-2 715, and UE-3 720). The SL target UE 705 is configured with the SL PRS configuration.

In various implementations, the target UE 705 can generate real-time differences (“RTD”), observed time differences (“OTD”) (τ _{i )} , as illustrated in the scenario 700 illustrated in FIG. -τ ₃ ), mobile reference node UE-3 with transmission time offsets based on synchronization of SL PRS transmitters ((T _i -T ₃ ) = 0 for perfect synchronization and measurement errors ε) Performs at least two different RSTD measurements 755 for R. In various implementations, the target UE 705 reports 745 of the RSTD measurements 755 to determine the estimated location of the target UE 705. via the serving base station (eg, gNB or RSU 730) to the LMF 735. In certain example implementations, the SL PRS received by the target UE is the trajectory 750 of the target UE 705 ) is constructed and measured at a plurality of time instances corresponding to points along .

Example 3: SL-TDOA Synchronization

In a fully synchronized network, the RTD parameter consisting of the transmission time offset will be zero. However, in practice the LMF 735 uses this RTD information to calculate the final position estimate of the target UE 705 . In some embodiments of SL-TDOA positioning technology implementations, strict nanosecond synchronization between anchor/non-anchor nodes transmitting the SL PRS 740 may be very important.

According to embodiments 1 and 2, the stationary and mobile reference nodes 620, 720 together with the mobile anchor/non-anchor nodes (eg 710, 715) transmitting the SL PRS 740, e.g. For example, it is configured to be synchronized with a common clock, preferably based on GNSS time. In the case of embodiment 1 with a fixed reference node 620 , mobile anchor/non-anchor nodes (eg 610 , 615 ) may also have the option of synchronizing with base station 630 . In some examples, a common synchronization source may be configured based on priority index and network coverage. The state of network coverage may be in coverage, partial coverage, or out of coverage for base nodes 620, 720 and/or mobile anchor/non-anchor nodes 610, 615, 710, 715. Table 8 below shows exemplary details related to priority to synchronization source mapping to be implemented between UEs involved in performing SL-TDOA/SL timing based positioning methods.

According to Table 8 shown below, GNSS is prioritized as a synchronization source when compared to base station synchronization due to the stringent synchronization requirements imposed by SL timing-based positioning methods. A base station may include a centralized radio access node such as an eNB/gNB. Also, base station source synchronization may be considered only during in-coverage or partial coverage.

Also, nodes transmitting SL PRSs, e.g., nodes 610, 615, 620, 710, 715, 720, periodically assist the LMF to compensate the RTD offset, especially for Mode 1 operations. It is configured to report the transmission time to the LMF. In the case of UE-based positioning for Mode 2 scenarios, the RTD offset may be calculated by the target UE 605, 705 based on the SL PRS transmission timestamp associated with the SL PRS transmission.

Example 4: SL-RTT

8 is an exemplary diagram of SL-round-trip time (“RTT”) positioning of a target UE 805 using multiple beams with multiple UEs 810, 815, according to one or more embodiments of the present disclosure. It is a diagram showing the scenario 800.

The round trip time (RTT) of the SL-PRS 840 forming each SL beam 850 may also be used to determine the absolute and relative position of the SL UE relative to other UEs. An advantage of this technique is that the distance/range can be calculated using only one anchor node 810 and target UE 805 . This disclosure describes exemplary embodiments with additional enhancements to SL-RTT to improve overall position estimation accuracy for a target UE 805 .

For simplicity, FIG. 8 shows an example of performing SL-RTT positioning techniques using a single beam 850 for each SL TRP, which can also be extended to be configured to be performed using multiple beams and multiple anchor nodes. show what It can be observed that UE-1 810 and UE-2 act as reference nodes for the target UE 805 for the SL-RTT procedure.

LMF / V2X application may trigger a location-related unicast communication session with the V2X layer to initiate the SL-RTT procedure with the target UE (805). The SL-RTT procedure is similar for both SL Mode 1 and Mode 2 operations, but how the SL-PRS configuration and reporting is performed may be different for the different modes. Triggers can be event-based, aperiodic or periodic based on application requirements. In Mode 1, SL UEs are assisted by the gNB, and they use dedicated radio resources for data transmission. In mode 2, SL UEs randomly select radio resources from the resource pool previously transmitted by the gNB.

에 기반하여 거리를 계산할 수 있고, 여기서 c는 광속이고, SL-RTT는 보고된 왕복 시간에 기반한다. Mode 1 : In various embodiments, the LMF 835 configures UE-1 810, UE-2 815 and the target UE in a SL-PRS configuration. UE-1 and UE-2 may be RSUs/SL-UEs or VRUs. One or more additional nodes UE-1 810, UE-2 815 and target UE 805 report their respective UE Rx-Tx difference measurements to the LMF per beam/SL TRP, which is useful for UE-assisted positioning. mainly applicable. LMF(835) is

, where c is the speed of light, and SL-RTT is based on the reported round-trip time.

Mode 2 : In some example implementations, LMF 835 may send the SL-PRS configuration to gNB 830 to be broadcast using the positioning system information. In certain implementations, a default SL-PRS configuration may be pre-configured for UEs. In these implementations, UE-1 810, UE-2 815, and target UE 805 perform SL-RTT positioning using a stored, pre-configured, or broadcast SL PRS configuration. The UEs (UE-1 810 and UE-2 815) report their respective UE Rx-Tx difference measurements per beam/SL TRP to the target UE 805 for UE-based positioning. Tables 9 and 10 below list specific SL PRS configuration parameters and corresponding reporting parameters for each of the UEs, and these parameters are for SL positioning assisted by LMF for the UE to perform positioning, or Indicates whether the target UE is respectively used for SL UE based positioning which calculates its estimated position using SL RTT positioning techniques.

Example 5: SL positioning capability exchange signaling

9 is a diagram illustrating an example 900 of capability signaling exchanges for SL-TDOA and/or SL-RTT, in accordance with one or more embodiments of the present disclosure. In various embodiments, prior to performing SL positioning, the target UE 905 determines the desired UE characteristics necessary for the target UE 905 to be localized to perform SL-TDOA and/or SL-RTT positioning techniques. A request 915 inquiring whether it has may be received from the LMF 910 . The target UE may send a response 920 providing information about the SL-TDOA and/or SL-RTT capabilities of the target UE 905 to the LMF 910 .

10 is a diagram illustrating an example 1000 of auxiliary data signaling exchange for SL-TDOA and/or SL-RTT, in accordance with one or more embodiments of the present disclosure. In various embodiments, prior to performing SL positioning, the target UE 1005 may send a request 1015 to the LMF 1010 requesting SL-TDOA and/or SL-RTT assistance data. The target UE receives a response 1020 from the LMF 1010 providing the requested assistance data.

user equipment

11 illustrates a user equipment device 1100 that may be used with sidelink timing based positioning methods, in accordance with one or more embodiments of the present disclosure. In various embodiments, user equipment device 1100 is used to implement one or more of the solutions described above. The user equipment device 1100 may be an embodiment of the remote unit 105 and/or UE described above. User equipment device 1100 may also include a processor 1105 , a memory 1110 , an input device 1115 , an output device 1120 , and a transceiver 1125 .

In some embodiments, input device 1115 and output device 1120 are combined into a single device, such as a touchscreen. In certain embodiments, user equipment device 1100 may not include any input device 1115 and/or output device 1120 . In various embodiments, the user equipment device 1100 may include one or more of a processor 1105 , a memory 1110 , and a transceiver 1125 , and may include an input device 1115 and/or an output device 1120 . ) may not be included.

Processor 1105, in one embodiment, may include any known controller capable of executing computer readable instructions and/or performing logical operations. For example, processor 1105 may be a microcontroller, microprocessor, central processing unit ("CPU"), graphics processing unit ("GPU"), auxiliary processing unit, field programmable gate array ("FPGA"), or It may be a similar programmable controller. In some embodiments, processor 1105 executes instructions stored in memory 1110 to perform methods and routines described herein. Processor 1105 is communicatively coupled to memory 1110 , input device 1115 , output device 1120 , and transceiver 1125 .

In various embodiments, processor 1105 controls user equipment device 1100 to implement UE behavior in accordance with one or more of the embodiments described above.

In one embodiment, memory 1110 is a computer readable storage medium. In some embodiments, memory 1110 includes volatile computer storage media. For example, memory 1110 may include RAM including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and/or static RAM (“SRAM”). In some embodiments, memory 1110 includes non-volatile computer storage media. For example, memory 1110 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, memory 1110 includes both volatile and non-volatile computer storage media.

In some embodiments, memory 1110 stores data related to sidelink timing based positioning methods. For example, memory 1110 may store various parameters, configurations, policies, etc. as described above. In certain embodiments, memory 1110 also stores program code and related data, such as an operating system or other controller algorithms operating on device 1100 .

Input device 1115 may include any known computer input device including, in one embodiment, a touch panel, buttons, keyboard, stylus, microphone, and the like. In some embodiments, input device 1115 may be integrated with output device 1120, for example as a touchscreen or similar touch-sensitive display. In some embodiments, input device 1115 includes a touchscreen so that text can be entered using a virtual keyboard displayed on the touchscreen and/or by writing on the touchscreen. In some embodiments, input device 1115 includes two or more different devices, such as a keyboard and a touch panel.

Output device 1120, in one embodiment, is designed to output visual, auditory, and/or tactile signals. In some embodiments, output device 1120 includes an electronically controllable display or display device capable of outputting visual data to a user. For example, output device 1120 may include, but is not limited to, an LCD display, LED display, OLED display, projector, or similar display device capable of outputting images, text, etc. to a user. . As another non-limiting example, output device 1120 may include a wearable display separate from but communicatively coupled to the rest of user equipment device 1100, such as a smart watch, smart glasses, heads-up display, and the like. there is. In addition, the output device 1120 may be a component of a smart phone, a personal digital assistant, a television, a table computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, and the like.

In certain embodiments, output device 1120 includes one or more speakers for generating sound. For example, output device 1120 may generate an audible alert or notification (eg, a beep or chime). In some embodiments, output device 1120 includes one or more tactile devices for generating vibrations, motion, or other tactile feedback. In some embodiments, all or part of output device 1120 may be integrated with input device 1115 . For example, input device 1115 and output device 1120 may form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1120 may be located near input device 1115 .

Transceiver 1125 communicates with one or more network functions of a mobile communications network via one or more access networks. Transceiver 1125 operates under the control of processor 1105 to transmit messages, data, and other signals and to receive messages, data, and other signals. For example, processor 1105 can selectively activate transceiver 1125 (or portions thereof) at certain times to transmit and receive messages.

The transceiver 1125 includes at least a transmitter 1130 and at least one receiver 1135. One or more transmitters 1130 may be used to provide UL communication signals, such as the UL transmissions described herein, to the base unit 121 . Similarly, one or more receivers 1135 may be used to receive DL communication signals from the base unit 121, as described herein. Although only one transmitter 1130 and one receiver 1135 are shown, user equipment device 1100 may have any suitable number of transmitters 1130 and receivers 1135 . Additionally, transmitter(s) 1130 and receiver(s) 1135 may be any suitable type of transmitters and receivers.

In one embodiment, transceiver 1125 includes a first transmitter/receiver pair used to communicate with a mobile communications network over a licensed radio spectrum and a second transmitter/receiver pair used to communicate with a mobile communications network over an unlicensed radio spectrum. includes In certain embodiments, a first transmitter/receiver pair used to communicate with a mobile communications network over a licensed radio spectrum and a second transmitter/receiver pair used to communicate with a mobile communications network over an unlicensed radio spectrum are a single transceiver unit. , eg, can be combined into a single chip that performs functions for use with both licensed and unlicensed radio spectrum. In some embodiments, the first transmitter/receiver pair and the second transmitter/receiver pair may share one or more hardware components. For example, certain transceivers 1125, transmitters 1130, and receivers 1135 may physically access shared hardware and/or software resources, such as, for example, network interface 1140. Can be implemented as separate components.

In various embodiments, one or more transmitters 1130 and/or one or more receivers 1135 are implemented as a single hardware component, such as a multi-transceiver chip, system-on-chip, ASIC, or other type of hardware component. and/or may be incorporated. In certain embodiments, one or more transmitters 1130 and/or one or more receivers 1135 may be implemented and/or integrated into a multi-chip module. In some embodiments, other components such as network interface 1140 or other hardware components/circuits may be integrated into a single chip along with any number of transmitters 1130 and/or receivers 1135. can In this embodiment, the transmitters 1130 and receivers 1135 are either as a transceiver 1125 using one or more common control signals, or as modular transmitters 1130 and implemented in the same hardware chip or multi-chip module. can be logically configured as receivers 1135.

network equipment

12 illustrates a network equipment apparatus 1200 that may be used with sidelink timing based positioning methods, in accordance with one or more embodiments of the present disclosure. Network equipment device 1200 may be one embodiment of the base unit 121, RAN node, LMF and/or location server described above. In addition, the base network equipment apparatus 1200 may include a processor 1205 , a memory 1210 , an input device 1215 , an output device 1220 , and a transceiver 1225 . In some embodiments, input device 1215 and output device 1220 are combined into a single device, such as a touchscreen. In certain embodiments, network equipment apparatus 1200 may not include any input device 1215 and/or output device 1220. In various embodiments, the network equipment apparatus 1200 may include one or more of a processor 1205, a memory 1210, and a transceiver 1225, and may include an input device 1215 and/or an output device 1220. may not include

Processor 1205, in one embodiment, may include any known controller capable of executing computer readable instructions and/or performing logical operations. For example, processor 1205 may be a microcontroller, microprocessor, CPU, GPU, auxiliary processing unit, FPGA, or similar programmable controller. In some embodiments, processor 1205 executes instructions stored in memory 1210 to perform methods and routines described herein. The processor 1205 is communicatively coupled to a memory 1210 , an input device 1215 , an output device 1220 , and a transceiver 1225 .

In various embodiments, network equipment device 1200 is a RAN node. Here, the processor 1205 controls the network equipment device 1200 to perform the gNB/RAN behaviors described herein.

In various embodiments, network equipment device 1200 is an AMF. Here, processor 1205 controls network equipment device 1200 to perform the AMF behaviors described herein.

In various embodiments, network equipment device 1200 is a location server. Here, processor 1205 controls network equipment device 1200 to perform the location server behaviors described herein.

In one embodiment, memory 1210 is a computer readable storage medium. In some embodiments, memory 1210 includes volatile computer storage media. For example, memory 1210 may include RAM including dynamic RAM (“DRAM”), synchronous dynamic RAM (“SDRAM”), and/or static RAM (“SRAM”). In some embodiments, memory 1210 includes non-volatile computer storage media. For example, memory 1210 may include a hard disk drive, flash memory, or any other suitable non-volatile computer storage device. In some embodiments, memory 1210 includes both volatile and non-volatile computer storage media.

In some embodiments, memory 1210 stores data related to sidelink timing based positioning methods. For example, memory 1210 may store various parameters, configurations, policies, etc. as described above. In certain embodiments, memory 1210 also stores program code and related data, such as an operating system or other controller algorithms operating on network equipment device 1200.

Input device 1215 may include any known computer input device including, in one embodiment, a touch panel, buttons, keyboard, stylus, microphone, and the like. In some embodiments, input device 1215 may be integrated with output device 1220, for example as a touchscreen or similar touch-sensitive display. In some embodiments, input device 1215 includes a touchscreen so that text can be entered using a virtual keyboard displayed on the touchscreen and/or by writing on the touchscreen. In some embodiments, input device 1215 includes two or more different devices, such as a keyboard and a touch panel.

Output device 1220, in one embodiment, is designed to output visual, auditory, and/or tactile signals. In some embodiments, output device 1220 includes an electronically controllable display or display device capable of outputting visual data to a user. For example, output device 1220 may include, but is not limited to, an LCD display, LED display, OLED display, projector, or similar display device capable of outputting images, text, etc. to a user. . As another non-limiting example, output device 1220 includes a wearable display separate from but communicatively coupled to the rest of network equipment device 1200, such as a smart watch, smart glasses, heads-up display, etc. can do. Also, the output device 1220 may be a component of a smart phone, a personal digital assistant, a television, a table computer, a notebook (laptop) computer, a personal computer, a vehicle dashboard, and the like.

In certain embodiments, output device 1220 includes one or more speakers for generating sound. For example, output device 1220 may generate an audible alert or notification (eg, a beep or chime). In some embodiments, output device 1220 includes one or more tactile devices for generating vibrations, motion, or other tactile feedback. In some embodiments, all or part of output device 1220 may be integrated with input device 1215 . For example, input device 1215 and output device 1220 may form a touchscreen or similar touch-sensitive display. In other embodiments, output device 1220 may be located near input device 1215 .

Transceiver 1225 includes at least one transmitter 1230 and at least one receiver 1235 . As described herein, one or more transmitters 1230 may be used to communicate with a UE. Similarly, one or more receivers 1235 may be used to communicate with network functions in the PLMN and/or RAN, as described herein. Although only one transmitter 1230 and one receiver 1235 are shown, the network equipment device 1200 may have any suitable number of transmitters 1230 and receivers 1235. Additionally, transmitter(s) 1230 and receiver(s) 1235 may be any suitable type of transmitters and receivers. In some embodiments, other components such as network interface 1240 or other hardware components/circuits may be integrated into a single chip along with any number of transmitters 1230 and/or receivers 1135. can In this embodiment, the transmitters 1230 and receivers 1235 are either as a transceiver 1225 using one or more common control signals, or as modular transmitters 1230 and implemented in the same hardware chip or multi-chip module. can be logically configured as receivers 1235.

methods

13 is a block diagram illustrating an example method for SL-TDOA positioning, in accordance with one or more embodiments of the present disclosure. In various embodiments, method 1300 is performed in a communication network that includes at least a base station, a user equipment (UE), and a location server. In some embodiments, method 1300 is performed by one or more processors, such as microcontrollers, microprocessors, CPUs, GPUs, auxiliary processing units, FPGAs, and the like.

In various embodiments, the method 1300 begins, from the perspective of a target UE, for UE-based positioning, the target UE obtains positioning reference signal (“SL-PRS”) measurements from a reference node and two or more additional UEs. and receiving 1305. The method 1300 continues and includes measuring 1310 SL reference signal timing differences (“RSTDs”) between two or more additional UEs relative to the reference node. In some embodiments, positioning is UE-assisted (eg, the LMF calculates a target estimated location of the target UE based on reported measurements from the target UE). In certain embodiments, SL positioning is UE-based (eg, the UE calculates its own estimated location). In various embodiments, method 1300 further includes determining 1315 an estimated location of the target UE based on a time difference of arrival (“TDOA”) location technique using SL RSTDs. In some embodiments (eg, UE assistance), the method 1300 may include reporting the SL reference signal time difference measurement to the location server using the Uu interface and/or the SL interface. Method 1300 may further include, in certain embodiments, receiving a location estimate for a target UE from a location server using the time difference of arrival of the SL-PRS measurements. Method 1300 ends.

In one or more embodiments, method 1300 may be implemented with various reference and anchor or non-anchor nodes, configurations, techniques, etc., such as those described above with respect to FIGS. 6 and 7 . Moreover, the method 1300 may be performed by the UE device 1100 described above with respect to FIG. 1100 . Corresponding methods 1300 may be performed by network equipment device 1200, which may include a location server and/or LMF to assist in performing one or more method steps of method 1300 or variations thereof.

14 is a block diagram illustrating an example methodology for sidelink timing based positioning methods using SL-RTT, in accordance with one or more embodiments of the present disclosure. In some embodiments, method 1400 is performed by a UE, such as remote unit 105 in communication with a base station, one or more anchor or non-anchor reference nodes, and/or a location server, as described above. In various embodiments, the steps of method 1400 may be performed by a processor such as a microcontroller, microprocessor, CPU, GPU, auxiliary processing unit, FPGA, or the like.

In an example implementation, the method 1400 begins and includes, in various embodiments, a target UE transmitting SL Positioning Reference Signals ("PRS") to one or more additional UEs (step 1405). The method 1400 continues with the target UE receiving SL positioning reference signals from one or more additional UEs (step 1410), and the SL positioning reference signals transmitted and received between the target UE and one or more additional UEs (" determining an estimated location of the target UE based on a SL Round Trip Time (RTT) location technique using PRS"), wherein the one or more SL UE Rx-Tx differences for determining the SL RTTs is , measuring received timing of SL subframes containing the PRS; measuring the difference between transmission and reception timing of SL subframes containing the PRS; and calculating one or more SL UE Rx-Tx timing differences.

In one or more embodiments, method 1400 may be implemented with various reference and anchor or non-anchor nodes, configurations, techniques, etc., such as those described above with respect to FIGS. 6 and 7 . Moreover, the method 1400 may be performed by the UE device 1100 described above with respect to 1100 . Corresponding methods 1400 may be performed by network equipment device 1200, which may include a location server and/or LMF to assist in performing one or more method steps of method 1400 or variations thereof.

Various example implementations include a UE device for a communications network that includes a target UE to be localized using sidelink (“SL”) timing-based positioning, the target UE including a processor, memory, and program code; , program code executable by a processor to cause a UE to receive positioning reference signal ("SL-PRS") measurements from a reference node and two or more additional UEs; measure SL reference signal timing differences ("RSTDs") between two or more additional UEs relative to the reference node; Determine the estimated position of the target UE based on a time difference of arrival ("TDOA") positioning technique using SL RSTDs. In some UE-based example implementations, the target UE determines the estimated location by locally computing the estimated location based on a time difference of arrival (“TDOA”) location technique using SL RSTDs. In an exemplary implementation of one or more UE assistance, the target UE reports measurements of SL RSTDs to a location server (or LMF implemented as a core network function) using an interface selected from the Uu interface, the SL interface, or both. ; and determining an estimated location by receiving from the location server (or LMF) an estimated location based on a time difference of arrival ("TDOA") location technique using measurements of SL RSTDs calculated by the location server.

In various example implementations, a target UE receives location information for two or more additional UEs, the location information comprising: absolute location information received from anchor UEs included in the two or more additional UEs; absolute location information received from the LMF of the communication network for the non-anchor UEs by a location management function ("LMF") determining the absolute locations of each of the non-anchor UEs included among the two or more additional UEs; and combinations thereof.

In certain example implementations, the reference node is a stationary node selected from base stations, roadside units (“RSUs”), SL-UEs, and vulnerable road users (“VRUs”), and the reference node is a SL positioning reference signal (“PRS”). ") is sent. In some example implementations, the target UE measures the RSTD based on the received positioning reference signals.

In one or more example implementations, the reference node is a non-anchor mobile node selected from the SL-UE and VRU. In certain implementations, the two or more additional UEs are non-anchor nodes. In various implementations, the target UE receives from the non-anchor mobile reference node SL PRS configurations corresponding to SL transmission reception points (TRPs) originating from the non-anchor mobile reference node and two or more additional UEs.

In various implementations, a groupcast communication session is initiated between the vehicle-to-X ("V2X") layer and the LMF to perform the configured SL-TDOA positioning technique. In certain example implementations, the reference node is a mobile reference node selected from the SL-UE and the VRU, the two or more additional UEs are non-anchor nodes, and the target UE is selected from the LMF, the mobile reference node and the two or more additional UEs. SL PRS configurations and specific identities corresponding to the originating SL transmission reception points (TRPs), and two or more additional UE counterparts to the mobile reference node based on the groupcast communication session initiated between the V2X layer and the LMF receive locations.

In some example implementations, a UE may use physical sidelink control channels (“PSCCHs”), physical sidelink broadcast channels (“PSBCHs”), and physical sidelink shared channels (“PSSCH”), and An SL-PRS transmitted using one or more SL channels selected from combinations thereof is received. In certain example implementations, the SL PRS received by the target UE is configured and measured at a plurality of time instances corresponding to points along the trajectory of the target UE. In one or more example implementations, the base node and nodes in the two or more additional UEs that are transmitting the SL PRS periodically report transmission times to compensate for real-time difference ("RTD") offsets in performing the TDOA positioning technique. is configured to

A further exemplary UE device for a communication network includes a target UE to be localized using sidelink ("SL") timing based positioning, the target UE including a processor, memory, and program code, wherein the program code is executable by a processor to cause a target UE to transmit SL positioning reference signals ("PRS") to one or more additional UEs, to receive SL positioning reference signals from one or more additional UEs, and determine the estimated position of the target UE based on an SL Round Trip Time (RTT) positioning technique using SL Positioning Reference Signals ("PRS") transmitted and received between the SL and one or more additional UEs. In certain example implementations, the one or more SL UE Rx-Tx differences for determining SL RTTs may include measuring received timing of SL subframes containing a PRS, transmitting and receiving SL subframes containing a PRS It is obtained by measuring the difference between timings, and calculating one or more SL UE Rx-Tx timing differences. In some example implementations, the target UE receives the SL-RTT configuration based on the unicast communication session and receives the corresponding Rx-RTT from one or more additional UEs that are mobile UEs to perform the configured SL-RTT location technique. Send the Rx-Tx difference measurement report to be used along with the Tx difference measurement reports to the location management function ("LMF") of the communication network.

In some example implementations, a target UE receives a request from a location server or location management function ("LMF") to provide capability information related to SL timing based positioning, and the requested capabilities related to SL timing based positioning. sending information to a location server or LMF; and sending a request to a location server or location management function (“LMF”) to provide auxiliary data related to SL timing-based positioning, and receiving requested auxiliary data related to SL timing-based positioning from the location server or LMF. Perform one or more actions selected from

In various example implementations involving UE-assisted sidelink timing based positioning, the location server or LMF implemented on the location server or as a core network function may include anchor or non-anchor nodes for the target UE and/or or receive reports from one, two, or more additional UEs.

In one or more exemplary implementations, a method for a location management function (“LMF”) implemented on a location server or as a stand-alone core network function of a communication network may, from a target UE to be localized, to a reference node. Receive a report containing two or more sidelink (“SL”) reference signal timing differences (“RSTDs”) between a target UE and two or more additional UEs—the SL RSTDs are the reference node and the two or more additional UEs. based on SL Positioning Reference Signals (“PRS”) from the UE, and determining an estimated location of the target UE using a Time Difference of Arrival (“TDOA”) positioning technique based on SL RSTDs. and determining an estimated location of a target UE to be localized using one or more sidelink timing-based positioning techniques selected from the sidelink timing-based positioning techniques.

In certain example implementations, a location server or a method for a location management function ("LMF") implemented on a location server or implemented as a stand-alone core network function of a communication network may, from a target UE to be localized, one with the target UE. Receiving a report containing one or more SL RTT measurements between one or more additional UEs, and determining an estimated location of the target UE using a SL-RTT location technique based on the UE Rx-Tx time difference measurements. do. As described above, in any of the apparatuses, systems, or methods disclosed herein, various non-anchor nodes may be converted to anchor nodes using specific steps described above.

Apparatuses, systems, or methods disclosed herein may be UE assisted when timely access to a location server or LMF is available and when timely access to a location server or LMF is not available for a specified period of time. Improves UE localization techniques by providing more accurate, SL-based positioning techniques with low latency, including SL TDOA and SL RTT, which can be UE-based in .

Embodiments may be practiced in other specific forms. The described embodiments are to be considered only illustrative in all respects and not restrictive. The scope of the present invention is, therefore, indicated by the appended claims rather than by the foregoing description. All changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (15)

As a user equipment ("UE") device for a communication network,
A target UE to be localized using sidelink (“SL”) timing based positioning, the target UE including a processor, memory, and program code, the program code comprising the processor Executable by, so that the UE,
receive SL positioning reference signal ("SL-PRS") measurements from the reference node and at least two additional UEs;
measure SL reference signal timing differences (“RSTDs”) between the two or more additional UEs relative to the reference node;
and determine an estimated location of the target UE based on a time difference of arrival ("TDOA") positioning technique using the SL RSTDs. According to claim 1,
wherein the target UE determines the estimated position by locally calculating the estimated position based on the time difference of arrival ("TDOA") positioning technique using the SL RSTDs. According to claim 1,
The target UE,
reporting measurements of the SL RSTDs to a location server using an interface selected from the Uu interface, the SL interface, or both; and
receiving from the location server the estimated location based on the time difference of arrival (“TDOA”) location technique using measurements of the SL RSTDs calculated by the location server;
Determines the estimated position by a UE device. According to claim 1,
The target UE receives location information for the two or more additional UEs, and the location information includes:
absolute position information received from anchor UEs included in the two or more additional UEs;
absolute position information received from the LMF of the communication network for non-anchor UEs by a location management function ("LMF") determining the absolute positions of each of the non-anchor UEs of the two or more additional UEs; and
combinations of these
UE device, selected from. According to claim 1,
The reference node is a stationary node selected from a base station, a roadside unit ("RSU"), a SL-UE, and a vulnerable road user ("VRU"), the reference node transmits an SL positioning reference signal ("PRS");;
wherein the target UE measures the RSTD based on a received positioning reference signal. According to claim 1,
the reference node is a non-anchor mobile node selected from SL-UE and VRU;
the two or more additional UEs are non-anchor nodes;
wherein the target UE receives, from the non-anchor mobile reference node, SL PRS configurations corresponding to SL transmission reception points (TRPs) originating from a non-anchor mobile reference node and the two or more additional UEs. According to claim 6,
A UE device, wherein a groupcast communication session is initiated between a vehicle-to-X ("V2X") layer and a location management function ("LMF") to perform a configured SL-TDOA positioning technique. According to claim 7,
the reference node is a mobile reference node selected from SL-UE and VRU;
the two or more additional UEs are non-anchor nodes;
The target UE from the LMF,
SL PRS configurations and identities corresponding to SL transmission reception points (TRPs) originating from a mobile reference node and the two or more additional UEs; and
Relative positions of the two or more additional UEs with respect to the mobile reference node based on the groupcast communication session initiated between the V2X layer and the LMF
To receive, UE device. According to claim 1,
The UE is selected from Physical Sidelink Control Channels ("PSCCHs"), Physical Sidelink Broadcast Channels ("PSBCHs"), and Physical Sidelink Shared Channels ("PSSCH"), and combinations thereof. A UE device that receives the SL-PRS transmitted using one or more SL channels. According to claim 1,
wherein the SL PRS received by the target UE is configured and measured at a plurality of time instances corresponding to points along a trajectory of the target UE. According to claim 1,
The reference node and nodes of the two or more additional UEs that are transmitting the SL PRS are configured to periodically report transmission times to compensate for real-time difference ("RTD") offsets in performing the TDOA positioning technique. , UE device. As a user equipment ("UE") device for a communication network,
A target UE to be localized using sidelink (“SL”) timing based positioning, the target UE including a processor, memory, and program code, the program code being executable by the processor such that the to the target UE,
transmit SL Positioning Reference Signals (“PRS”) to one or more additional UEs;
receive SL positioning reference signals from one or more additional UEs;
determine an estimated position of the target UE based on an SL Round Trip Time (RTT) positioning technique using the SL Positioning Reference Signals ("PRS") transmitted and received between the target UE and one or more additional UEs; do,
One or more SL UE Rx-Tx differences for determining the SL RTTs,
measuring received timing of SL subframes containing the PRS;
measuring a difference between transmission and reception timing of the SL subframes containing the PRS; and
Calculating the one or more SL UE Rx-Tx timing differences
Obtained by, the UE device. According to claim 12,
The target UE,
receive a SL-RTT configuration based on the unicast communication session;
The location management function ("LMF""), the UE device. According to claim 12,
The target UE,
Receive a request from a location server or location management function (“LMF”) to provide capability information related to the SL timing based positioning, and send the requested capability information related to the SL timing based positioning to the location server or the LMF. to transmit; and
send a request to the location server or the location management function ("LMF") to provide assistance data related to the SL timing-based positioning; receiving data
A UE device that performs one or more operations selected from. A method for a location management function (“LMF”) of a communication network, comprising:
determining an estimated location of a target UE to be localized using one or more sidelink timing-based positioning techniques selected from a first sidelink timing-based positioning technique and a second sidelink timing-based positioning technique;
The first sidelink timing-based positioning technology,
Receive a report from the target UE to be localized containing two or more sidelink (“SL”) reference signal timing differences (“RSTDs”) between the target UE and two or more additional UEs for a reference node the SL RSTDs are based on SL Positioning Reference Signals ("PRS") from the reference node and the two or more additional UEs; and
Determining an estimated location of the target UE using a time difference of arrival (“TDOA”) positioning technique based on the SL RSTDs.
including,
The second sidelink timing-based positioning technology,
receiving, from the target UE to be localized, a report containing one or more SL RTT measurements between the target UE and one or more additional UEs; and
Determining an estimated location of the target UE using a SL-RTT positioning technique based on UE Rx-Tx time difference measurements.
Including, how.

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